相关论文: Consensus controller with safety guarantee: an app…
In this paper, multi-agent systems minimizing a sum of objective functions, where each component is only known to a particular node, is considered for continuous-time dynamics with time-varying interconnection topologies. Assuming that each…
This paper addresses the consensus of a class of uncertain nonlinear fractional-order multi-agent systems (FOMAS). First a fractional non-fragile dynamic output feedback controller is put forward via the output measurements of neighboring…
Despite longstanding interest, controller synthesis remains challenging for networks of heterogeneous, nonlinear agents. Moreover, the requirements for computational scalability and information privacy have become increasingly critical.…
We study distributed output feedback control for a heterogeneous multi-agent system (MAS), consisting of N different continuous-time linear dynamical systems. For achieving output consensus, a virtual reference model is assumed to generate…
This paper focuses on the consensus and formation problems of multiagent systems under unknown persistent disturbances. Specifically, we propose a novel method that combines an existing consensus (or formation) algorithm with a new…
We study the numerical realisation of optimal consensus control laws for agent-based models. For a nonlinear multi-agent system of Cucker-Smale type, consensus control is cast as a dynamic optimisation problem for which we derive…
This paper is concerned with the consensus problem for multi-agent systems subject to communication delays between the neighboring agents. We consider a scenario where each agent is characterized by a general high-order linear system and…
This paper concerns the consensus of discrete-time multi-agent systems with linear or linearized dynamics. An observer-type protocol based on the relative outputs of neighboring agents is proposed. The consensus of such a multi-agent system…
In this paper, we investigate the consensus problem of second-order multiagent systems under directed graphs. Simple yet robust consensus algorithms that advance existing achievements in accounting for velocity and input constraints, agent…
In this paper, the optimal consensus problem for general nonlinear multi-agent systems is studied, where both leaderless and leader-follower cases are considered in a unified framework. The key idea is to convert consensus problems into…
This paper addresses the adaptive consensus problem in uncertain multi-agent systems, particularly under challenges posed by quantized communication. We consider agents with general linear dynamics subject to nonlinear uncertainties and…
This paper considers the leader-follower tracking control problem for linear interconnected systems with undirected topology and linear dynamic coupling. Interactions between the systems are treated as linear dynamic uncertainty and are…
This paper investigates a robust positive consensus problem for a class of heterogeneous high-order multi-agent systems subject to external inputs. Compared with existing multi-agent consensus results, the most distinct feature of the…
This paper investigates a new method for consensus in a group of nonlinear complex multi-agent systems using fixed-order non-fragile dynamic output feedback controller, via an LMI approach. The proposed scheme is decentralized in the sense…
This paper proposes a new approach to analyze and synthesize robust consensus control laws for general linear leaderless multi-agent systems (MASs) subjected to input constraints or uncertainties. First, the MAS under input constraints or…
We address the challenge of safe control in decentralized multi-agent robotic settings, where agents use uncertain black-box models to predict other agents' trajectories. We use the recently proposed conformal decision theory to adapt the…
This paper revisits the problem of multi-agent consensus from a graph signal processing perspective. Describing a consensus protocol as a graph spectrum filter, we present an effective new approach to the analysis and design of consensus…
This paper addresses the one-bit consensus of controllable linear multi-agent systems (MASs) with communication noises. A consensus algorithm consisting of a communication protocol and a consensus controller is designed. The communication…
This paper focuses on analyzing the finite-time convergence of a nonlinear consensus algorithm for multi-agent networks with unknown inherent nonlinear dynamics. Due to the existence of the unknown inherent nonlinear dynamics, the stability…
This paper addresses the problem of navigation control of a general class of uncertain nonlinear multi-agent systems in a bounded workspace of $\mathbb{R}^n$ with static obstacles. In particular, we propose a decentralized control protocol…